简介

RGBD-SLAM-v2 is a state-of-the-art SLAM system for RGB-D cameras, e.g., the Microsoft Kinect. You can use it to create highly accurate 3D point clouds or OctoMaps.

RGBDSLAMv2 is based on the ROS project, OpenCV, PCL, OctoMap, SiftGPU and more.

运行环境

• 平台
  • Ubuntu 16.04 + ROS kinetic
• 数据源
  • RGB-D dataset: rgbd_dataset_freiburg1_xyz.bag
  • RGB-D camera: Realsense Camera ZR300

安装依赖

• sudo apt-get install libglew1.5-dev libdevil-dev libsuitesparse-dev
• rgbdslam作者的g2o

  git clone https://github.com/felixendres/g2o.git
  

• pcl-1.8.0

  wget https://github.com/PointCloudLibrary/pcl/archive/pcl-1.8.0.tar.gz
  

  pcl-1.8.0 的 CMakeLists.txt 中加入 C++11 支持:

  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
  

依赖库g2o和pcl不兼容，可能导致 “required process[rgbdslam-2] has died”…Iinitiating down 问题，程序挂掉。

编译 rgbdslam_v2

• 下载 rgbdslam_v2

  wget -q http://github.com/felixendres/rgbdslam_v2/archive/kinetic.zip
  

• rosdep

  rosdep update
  rosdep install rgbdslam
  

• 修改 CMakeLists.txt
  • 第6行加入: add_compile_options(-std=c++11)
  • set(USE_SIFT_GPU 1 CACHE BOOL "build with support for siftgpu") 改为 set(USE_SIFT_GPU 0 CACHE BOOL "build with support for siftgpu")
  • find_package(PCL 1.7 REQUIRED COMPONENTS common io) 改为 find_package(PCL 1.8 REQUIRED COMPONENTS common io)
• 编译

  catkin_make
  

运行

RGB-D 数据集

RGB-D 数据集 使用 rgbd_dataset_freiburg1_xyz.bag

• 修改 rgbdslam_v2 的 launch文件 rgbdslam.launch 中的 图像topic

  <param name="config/topic_image_mono"              value="/camera/rgb/image_color"/>
  <param name="config/topic_image_depth"             value="/camera/depth/image"/>
  

• 运行

  roscore & rosbag play rgbd_dataset_freiburg1_xyz.bag
  roslaunch rgbdslam rgbdslam.launch
  

• 结果
  

RGB-D 相机

RGB-D 相机 使用 Realsense Camera ZR300

• 修改 rgbdslam_v2 的 launch文件 rgbdslam.launch 中的 图像topic

  <param name="config/topic_image_mono"              value="/camera/rgb/image_color"/>
  <param name="config/topic_image_depth"             value="/camera/depth_registered/sw_registered/image_rect_raw"/>
  

• 运行

  roslaunch realsense_camera zr300_nodelet_rgbd.launch
  roslaunch rgbdslam rgbdslam.launch
  

• 结果
  

参考

• Instructions for Compiling Rgbdslam (V2) on a Fresh Ubuntu 16.04 Install (Ros Kinetic) in Virtualbox